I visited Estella/Lizarra ages ago, and I liked it a lot. Neat little city with a nice market square, some Romanic churches not to be missed, and a pleasant atmosphere.
If you want to stay in an impressive place for a night, try the Leyre Monastry. A gorgeous Romanic cathedral next door, a wonderful view on the artificial embalse down in the valley, it's a sight.
If you are into architecture, the small octogonal chapel of Eunate about 25 km outside Pamplona in the direction to Talavera is a gem.
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Jordi